Technical Program

SCIENTIFIC COUNCIL ON ROBOTICS AND MECHATRONICS

OF THE RUSSIAN ACADEMY OF SCIENCE

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Welcome to CLAWAR’20

It is our pleasure to welcome you all to the CLAWAR’20 conference, held virtually in Moscow,

Russian Federation during 24 – 26 August 2020. CLAWAR’20 is the 23rd issue of the International

Conference series on Climbing and Walking Robots and the Support Technologies for Mobile

Machines. The technical conference includes three keynote presentations, given by well-known

scientists in their fields of research, and 50 original articles with cutting-edge scientific findings in a

wide range of topics related to the rapidly evolving areas of robotics. We hope that CLAWAR’20 will

enable delegates to exchange research ideas and to establish collaborative networks for advancement

of science and knowledge discovery in the field of robotics and associated technologies.

Due to the Covid-19 pandemic, the CLAWAR’20 is held on a virtual platform and we hope that this

experience will be dynamic and interactive so that delegates gain the maximum benefit from the

conference presentations and discussions. In addition to the full technical programme document

delegates will receive a soft copy of the conference proceedings published by CLAWAR Association.

The proceedings will subsequently be placed in open-access mode in the CLAWAR Association

website.

Finally, if you have queries or require any assistance please do not hesitate to approach the conference

helpers or members of the conference organising team. We wish you all a successful and fruitful

CLAWAR’20 conference and hope you enjoy the event.

Valery G. Gradetsky, M. Osman Tokhi & Nikolay N. Bolotnik

General Co-Chairs, CLAWAR’20

CLAWAR 2020 Technical Programme

Monday 24 August 2020

Time: 08.00 - 09.20 (UTC)

08:00-09:00 Conference Registration

09:00-09:20 Opening of Conference

Keynote Address – 1

Session Chair: Nikolay N. Bolotnik

Time: 09.20 - 10.20 (UTC)

Time (UTC) Paper

ID

Proc

Page Presentation

09.20-10.20 PL1 RUSSIAN ROBOTICS: STATE OF TODAY, VIEW FOR THE

FUTURE

Ivan L. Ermolov

Session – Mm1: Climbing robots

Session Chair: Artem Sukhanov

Time: 10:30 – 12:00 (UTC)

Time (UTC) Paper

ID

Proc

Page Presentation

10:30-10:45 #15 A FOUR-LEGGED CLIMBING ROBOT ON A FRAGILE

CYLINDER

Elena Melkumova and Yury Golubev

10:45-11:00 #25

PARAMETRICAL ANALYSIS OF VACUUM CONTACT

DEVICES FOR WALL CLIMBING ROBOTS

Maxim Knyazkov, Valery Gradetsky, Evgeniy Semenov and Artem

Sukhanov

11:00-11:15 #33 FIXING DEVICE AERODYNAMICS OF THE WALL

CLIMBING ROBOT

Vladislav Chashchukhin

11:15-11:30 #34

VACUUM GENERATION FOR WALL CLIMBING ROBOT

ADAPTIVE CONTACT TO SURFACE

Valery Gradetsky, Maxim Knyazkov, Evgeniy Semenov, Artem

Sukhanov and Vladislav Chashchukhin

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11:30-11:45 #45

DESIGN AND PARAMETRIC INVESTIGATIONS OF

PERMANENT MAGNET ADHESION MECHANISM FOR

ROBOTS CLIMBING ON REINFORCED CONCRETE WALLS

Vijayagopala Rao M. V., Adthiya Balachandran, Sheetal P. Jadhav,

Tula Sridath, Manju Mohan, Kuppan Chetty Ramanathan,

Dinakaran D., Ramya M. M., Tokhi Mohammad Osman and Sattar

Tariq

11:45-12:00 #64 A ROBOT DESIGN FOR WIND GENERATOR SUPPORT

STRUCTURE INSPECTION

Shyamal Mondal

Session – Ma1: Innovative actuators and power supplies

Session Chair: Bryan Bridge

Time: 13:00 – 14:00 (UTC)

Time (UTC) Paper

ID

Proc

Page Presentation

13:00-13:15 #10 CHOSE OF OPTIMAL PARAMETERS OF THE

PNEUMATIC/HYDRAULIC ACTUATOR

Kirill Trukhanov

13:15-13:30 #37 MATHEMATICAL MODELING AND MOTION ANALYSIS OF

CONVEYING OBJECT MOVING ON ROTATING SHAFTS

Fumihiko Asano

13:30-13:45 #48 TECHNICAL ADVANTAGES AND DISADVANTAGES OF

BIARTICULAR ACTUATORS IN BIPEDAL ROBOTS

Atabak Nezhadfard, Karsten Berns and Patrick Vonwirth

13:45-14:00 #63

ANTAGONISTIC DRIVE MECHANISM TO INCREASE

IMPULSIVE FORCE INSPIRED BY EXOSKELETON SPRING

OF MANTIS SHRIMP

Kurumaya Shunichi, Fumio Ito, Riki Ono, Katushi Kagaya

and Taro Nakamura

Session – Ma2: Innovative design of CLAWAR

Session Chair: Armen Nunuparov

Time: 14:15-15:15 (UTC)

Time (UTC) Paper

ID

Proc

Page Presentation

14:15-14:30 #2 DESIGN AND DEVELOPMENT OF A MULTI-ROBOT

SYSTEM FOR BLOCKAGE REMOVAL

Sergey Manko, Valery Lokhin, Sekou Diane and Vladimir Tsypkin

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14:30-14:45 #16 POLYHEDRAL ROLLING ROBOT WITH EXPANDED

ICOSIDODECAHEDRON BODY

Mizuho Shibata and Yushi Azuma

14:45-15:00 #35 DEVELOPMENT OF EXPERIMENTAL PAPER-FEEDING

SYSTEM USING CRAWLING-LIKE LOCOMOTION ROBOT

Lin Guo, Fumihiko Asano and Longchuan Li

15:00-15:15 #47

SPHERICAL ROLLING ROBOTS: DIFFERENT DESIGNS AND

CONTROL ALGORITHMS

Yury Karavaev, Ivan Mamaev, Alexander Kilin and Elena

Pivovarova

Session – Ma3: Wearable assistive devices

Session Chair: Khaled Goher

Time: 15:30-16:45 (UTC)

Time (UTC) Paper

ID

Proc

Page Presentation

15:30-15:45 #26

SIMULATION OF A WALKING ROBOT-EXOSKELETON

MOVEMENT ON A MOVABLE BASE

Sergey Jatsun, Andrei Malchikov, Andrey Yatsun, Andres Santiago

Martinez Leon and Khalil Al Manji

15:45-16:00 #30

DEVELOPMENT OF A NEGATIVE-PRESSURE-DRIVEN SOFT

LINEAR ACTUATOR FOR FIXATION PART OF WEARABLE

ASSISTIVE DEVICES

Manabu Okui, Ryuto Enjo, Daisuke Inoue, Yasuyuki Yamada and

Taro Nakamura

16:00-16:15 #38 ONLINE ADAPTIVE RESISTANCE CONTROL OF AN ARM

EXERCISE EXOSKELETON

Xiaofeng Xiong and Poramate Manoonpong

16:15-16:30 #55

THE EXPERIMENTAL INVESTIGATION OF THE

SENSITIVITY IN THE EXOSKELETON CONTROL LOOP

Valery Gradetsky, Ivan Ermolov, Maxim Knyazkov, Eugeny

Semenov and Artem Sukhanov

16:30-16:45 #65

STANDING ASSISTANCE WHICH REALIZES VOLUNTARY

MOVEMENTS OF THE PATIENT WITHIN A SAFETY

MOTION TOLERANCE

Daisuke Chugo, Yu Suzuki, Masahiro Yokota, Satoshi Muramatsu,

Sho Yokota, Jin-Hua She, Hiroshi Hashimoto, Takahiro Katayama,

Yasuhide Mizuta and Atsushi Koujina

Tuesday 25 August 2020

Time: 08:00 - 09:00 (UTC)

08:00-09:00 Conference Registration

Session – Tm1: Flying and aerial robots

Session Chair: Giovanni Muscato

Time: 09:00-10:00 (UTC)

Time (UTC) Paper

ID

Proc

Page Presentation

09:00-09:15 #8 DYNAMICS MODELING AND CONTROL OF A QUADROTOR

SUBJECTED TO A VARIABLE LOAD

Deyka Garcia, Marcelo Coronado and Antony Garcia

09:15-09:30 #12

COMPARATIVE ANALYSIS OF ROS-BASED CENTRALIZED

METHODS FOR CONDUCTING COLLABORATIVE

MONOCULAR VISUAL SLAM USING GROUP OF UAVS

Bulat Abbyasov, Roman Lavrenov and Evgeni Magid

09:30-09:45 #46

3D RECONSTRUCTION OF HISTORICAL SITES USING AN

UAV

Pedro Silva, André Dias, Ana Pires, Tiago Santos, Alexandre

Amaral, Paulo Rodrigues, Jose Almeida and Eduardo Silva

09:45-10:00 #52 SURVEY OF APPROACHES FOR EMERGENCY LANDING

SPOT DETECTION WITH UNMANNED AERIAL VEHICLES

Gabriel Loureiro, André Dias and Alfredo Martins

Session – Tm2: Legged locomotion

Session Chair: Karsten Berns

Time: 10:15-11:45 (UTC)

Time (UTC) Paper

ID

Proc

Page Presentation

10:15-10:30 #9

ADAPTIVE GAIT PARAMETERS ADJUSTMENT STRATEGY

FOR A HEXAPOD ROBOT WALKING ON STAIRS BASED ON

3D TERRAIN PERCEPTION

Yue Zhao, Feng Gao, Yuan Tian and Liheng Mao

10:30-10:45 #17

PROPOSAL OF WALKING METHOD TO AVOID FALLING

DOWN USING VIBRATION ON LOOSE GROUND WITH

SLOPE

Tomohiro Watanabe and Kojiro Iizuka

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10:45-11:00 #42

A WALKING ROBOT WITH THERMOMECHANICAL

ACTUATORS FOR THE INSPECTION OF PHOTO-ELECTRIC

CELLS OF SOLAR ARRAYS FOR SPACECRAFT

Andrei Zhukov, Nikolay Bolotnik and Vladislav Chashchukhin

11:00-11:15 #56 THE DLS QUADRUPED PROPRIOCEPTIVE SENSOR

DATASET

Geoff Fink and Claudio Semini

11:15-11:30 #58

EVALUATING DEEP REINFORCEMENT LEARNING

ALGORITHMS FOR QUADRUPEDAL SLOPE HANDLING

Athanasios Mastrogeorgiou, Yehia Elbahrawy, Konstantinos

Machairas and Evangelos Papadopoulos

11:30-11:45 #62

ON THE INFLUENCE OF BODY VELOCITY IN FOOTHOLD

ADAPTATION FOR DYNAMIC LEGGED LOCOMOTION VIA

CNNs

Domingo Esteban, Octavio Villarreal, Victor Barasuol, Shamel

Fahmi and Claudio Semini

Keynote Address – 2

Session Chair: Gurvinder S. Virk

Time: 13:00-14:00 (UTC)

Time (UTC) Paper

ID

Proc

Page Presentation

13.00 -

14.00 PL2

ANIMAL-INSPIRED ROBOTS THAT CRAWL, WALK, RUN

CLIMB AND FLY AND SYNTHETIC NERVOUS SYSTEMS

FOR THEIR CONTROL

Roger D. Quinn

Session – Ta1: Underwater and sea robotics

Session Chair: Manuel F. Silva

Time: 14:15 – 15:15 (UTC)

Time (UTC) Paper

ID

Proc

Page Presentation

14:15-14:30 #36

SOME PROBLEMS OF CONTROLLING THE CABLE

PROPULSION DEVICES OF MOBILE ROBOTS

Eugene Briskin, Nikolay Sharonov, Ivan Penshin, Vasily Gulevsky

and Mihail Efimov

14:30-14:45 #53 ON THE STABILITY OF MOBILE ROBOTS MOVEMENT

WITH CABLE PROPULSION DEVICES

Vitaly Platonov, Nikolay Sharonov and Eugene Briskin

10

14:45-15:00 #54 PROPELLERLESS AQUATIC ROBOTS

Anton Klekovkin, Ivan Mamaev, Evgeny Vetchanin, Valentin

Tenenev and Yury Karavaev

15:00-15:15 #59

ON DETERMINING THE OPTIMAL LIFTING LAW OF THE

WALKING PROPULSION DEVICE FOOT OF AN

UNDERWATER ROBOT FROM THE BOTTOM

Eugene Briskin, Yaroslav Kalinin and Liliya Smirnaya

Session – Ta2: Agricultural and space robots

Session Chair: Dimitris Chrysostomou

Time: 15:30-16:30 (UTC)

Time (UTC) Paper

ID

Proc

Page Presentation

15:30-15:45 #27 SIMULATION OF SPACECRAFT BERTHING WITH A

ROBOTIC ARM

Yury F. Golubev and Andrey. V. Yaskevich

15:45-16:00 #28 TRIMOD MODULAR FORMATION ASSEMBLY USING

"MARS" MODULAR ROBOTIC DEVICES

Nikita Pavliuk, Petr Smirnov and Anton Saveliev

16:00-16:15 #40

DEVELOPMENT OF METHODS FOR THE AUTOMATIC

CONTROL OF THE MANIPULATOR DRIVES OF A MOBILE

WEEDING ROBOT WITH A PARALLEL-SERIAL

STRUCTURE

Aleksey G. Ivanov, Natalia S. Vorob’yeva, Viktor V. Zhoga,

Vladimir E. Pavlovsky and Evgenij V. Pavlovsky

16:15-16:30 #44 AGRICULTURAL ROBOTICS: A STATE OF THE ART

SURVEY

Luiz F. P. Oliveira, Manuel F. Silva and António P. Moreira

Wednesday 26 August 2020

Time: 08:00 - 09:00 (UTC)

08:00-09:00 Conference Registration

Keynote Address – 3

Session Chair: Osman Tokhi

Time: 09:00 - 10:00 (UTC)

Time (UTC) Paper

ID

Proc

Page Presentation

09:00 - 10:00 PL3 ROBOTICS ASSISTANCE TO PREDICT, PREVENT, DETECT,

MEASURE, PROTECT, MANAGE IMPROVISED CBE RISKS

Manuel Armada

Session – Wm1: Modelling and simulation of CLAWAR

Session Chair: Seungbin Moon

Time: 10:15 – 11:45 (UTC)

Time (UTC) Paper

ID

Proc

Page Presentation

10:15-10:30 #14 INSECTOMORPHIC CARGO-CARRYING ROBOT ON A RAFT

Yury F. Golubev and Victor V. Koryanov

10:30-10:45 #18

DYNAMIC EQUILIBRIUM OF CLIMBING ROBOTS BASED

ON STABILITY POLYHEDRON FOR GRAVITO-INERTIAL

ACCELERATION

Warley F. R. Ribeiro, Kentaro Uno, Kenji Nagaoka and Kazuya

Yoshida

10:45-11:00 #21 SYNTHESIS OF NONLINEAR CHARACTERISTICS FOR THE

MOBILE ROBOT CONTROL SYSTEM

Vasiliy Berdnikov and Valeriy Lokhin

11:00-11:15 #23

DEVELOPMENT OF SYNTHESIS METHOD OF FUNCTIONAL

DIAGNOSTIC SYSTEM FOR THRUSTERS OF UNDERWATER

VEHICLES

Aleksander Zuev and Alexey Zhirabok

11:15-11:30 #41

SIMULATIONS AND EXPERIMENTS OF HIGH-SPEED

STEALTH WALKING BASED ON A REALISTIC CONTROL

APPROACH

Fumihiko Asano, Masatsugu Nishihara and Masashi Kawazoe

12

11:30-11:45 #57 ON THE OPTIMAL MODES OF CONTROLLED TRANSFER

OF WALKING PROPULSION DEVICES

Maria V. Miroshkina and Eugeny S. Briskin

Session – Wa1: Planning, Navigation & Localisation

Session Chair: Maxim Knyazkov

Time: 13:00 – 14:00 (UTC)

Time (UTC) Paper

ID

Proc

Page Presentation

13:00-13:15 #19

INCREASING THE FLEXIBILITY OF THE NAVIGATION

ALGORITHM FOR INERTIAL PEDESTRIAN SYSTEMS BY

CLASSIFYING MOTION TYPE WITH SUPPORT VECTOR

MACHINES

Georgy Volosnyh, Gennady Kalach and Sekou Diane

13:15-13:30 #20

A СONTROL STRATEGY OF A MOBILE ROBOT IN A

LIMITED SPACE USING A LASER RANGEFINDER

Sergey Jatsun, Oksana Emelyanova, Peter Bezmen, Andres

Santiago Martinez Leon, Luis Miguel Mosquera Morocho and

Dmitry Afonin

13:30-13:45 #32

RFID-BASED WAREHOUSE MANAGEMENT SYSTEM

PROTOTYPING USING A HETEROGENEOUS GROUP OF

ROBOTS

Artur Khazetdinov, Andrey Aleksandrov, Aufar Zakiev, Evgeni

Magid and Kuo-Hsien Hsia

13:45-14:00 #49

COLLABORATIVE LOCALIZATION USING DYNAMIC

NOISE COVARIANCE AND ROBOT MOTION MODEL FOR

UNKNOWN AREA EXPLORATION

Dibyendu Ghosh, Vinayak Honkote and Karthik Narayanan

Session – Wa2: Inspection

Session Chair: Tariq Sattar

Time: 14:15 – 15:00 (UTC)

Time (UTC) Paper

ID

Proc

Page Presentation

14:15-14:30 #39

AUTOMATED INSPECTION OF SUBSEA STRUCTURE: A

CASE STUDY

Aman Kaur, Richard Anvo and Osman Tokhi

14:30-14:45 #43

A COMPACT LASER SHEAROGRAPHY SYSTEM

INTEGRATED WITH ROBOTIC CLIMBER FOR ON-SITE

INSPECTION OF WIND TURBINE BLADES

Zhiyao Li, M. Osman Tokhi, Jianxin Gao, Haitao Zheng

and Zhanfang Zhao

13

14:45-15:00 #51

SIRCAUR: SAFE INSPECTION OF REINFORCED CONCRETE

STRUCTURES BY AUTONOMOUS ROBOT

Gabriela Gallegos Garrido, Mahesh Dissanayake, Tariq Sattar,

Angelos Plastropoulos and Muntasir Hashim

15:15-16:00 Awards Ceremony

16:00-16:15 Closing Session